104 lines
3.3 KiB
C++
104 lines
3.3 KiB
C++
/*
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* This file is part of the Colobot: Gold Edition source code
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* Copyright (C) 2001-2023, Daniel Roux, EPSITEC SA & TerranovaTeam
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* http://epsitec.ch; http://colobot.info; http://github.com/colobot
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see http://gnu.org/licenses
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*/
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#pragma once
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#include "object/task/task.h"
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#include "object/object_type.h"
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#include <glm/glm.hpp>
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class CObject;
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enum TaskManipOrder
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{
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TMO_AUTO = 0, // deposits or takes automatically
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TMO_GRAB = 1, // takes an object
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TMO_DROP = 2, // deposits the object
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};
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enum TaskManipArm
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{
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TMA_NEUTRAL = 1, // empty arm at rest
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TMA_STOCK = 2, // right arm resting
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TMA_FFRONT = 3, // arm on the ground
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TMA_FBACK = 4, // arm behind the robot
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TMA_POWER = 5, // arm behind the robot
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TMA_OTHER = 6, // arm behind a friend robot
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TMA_GRAB = 7, // takes immediately
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};
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enum TaskManipHand
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{
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TMH_OPEN = 1, // open clamp
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TMH_CLOSE = 2, // closed clamp
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};
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class CTaskManip : public CForegroundTask
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{
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public:
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CTaskManip(COldObject* object);
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~CTaskManip();
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bool EventProcess(const Event &event) override;
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Error Start(TaskManipOrder order, TaskManipArm arm);
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Error IsEnded() override;
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bool Abort() override;
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protected:
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void InitAngle();
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CObject* SearchTakeUnderObject(glm::vec3 &pos, float dLimit);
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CObject* SearchTakeFrontObject(bool bAdvance, glm::vec3 &pos, float &distance, float &angle);
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CObject* SearchTakeBackObject(bool bAdvance, glm::vec3 &pos, float &distance, float &angle);
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CObject* SearchOtherObject(bool bAdvance, glm::vec3 &pos, float &distance, float &angle, float &height, int &slotNumOut);
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bool TransporterTakeObject();
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bool TransporterDeposeObject();
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bool IsFreeDeposeObject(glm::vec3 pos);
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void SoundManip(float time, float amplitude=1.0f, float frequency=1.0f);
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protected:
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TaskManipOrder m_order = TMO_AUTO;
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TaskManipArm m_arm = TMA_NEUTRAL;
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TaskManipHand m_hand = TMH_OPEN;
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int m_step = 0;
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float m_speed = 0.0f;
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float m_progress = 0.0f;
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float m_initialAngle[5] = {};
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float m_finalAngle[5] = {};
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float m_height = 0.0f;
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float m_advanceLength = 0.0f;
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float m_energy = 0.0f;
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bool m_bError = false;
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bool m_bTurn = false;
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bool m_bSubm = false;
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bool m_bBee = false;
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float m_angle = 0.0f;
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float m_move = 0.0f;
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glm::vec3 m_targetPos = { 0, 0, 0 };
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float m_timeLimit = 0.0f;
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ObjectType m_cargoType = OBJECT_NULL;
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};
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